#!/usr/bin/env python3
# -*- coding: utf-8 -*-

import rospy
from geometry_msgs.msg import Twist

if __name__ == '__main__':
    rospy.init_node('vel_node')

    vel_pub = rospy.Publisher('/cmd_vel', Twist, queue_size=10)

    # 消息包
    vel_msg = Twist()
    # vel_msg.linear.x = 0.1
    vel_msg.angular.z = 0.5
    
    rate = rospy.Rate(30)
    while not rospy.is_shutdown():
        vel_pub.publish(vel_msg)
        rate.sleep()
